#ifndef __PISWFR_H__
#define __PISWFR_H__

/**
 * @file piswfr.h
 * @brief 并联腿关节逆运动学算法
 */

#include <stdio.h>
#include <stdlib.h>
#include <string.h>

void inverse_positional_problem(float x,float y,float * anlge_a,float *angle_b,int mode);
void Path_generation(float x_now, float y_now, float x_des, float y_des, float *anlge_a, float *anlge_b, int mode);

#endif